Robot road cone collecting and placing vehicle

Abstract

The utility model belongs to the technical field of road operation vehicles, and particularly provides a robot road cone collecting and placing vehicle which comprises a frame, a transfer mechanism, a mechanical arm and a carrying vehicle, a carrying platform of the carrying vehicle is divided into a storage area and a waiting area, the storage area is located on one side of the carrying platform in the vehicle advancing direction, and the waiting area is located on the other side of the carrying platform. The frame is assembled in the storage area, and the mechanical arm is assembled in the waiting area; the transferring mechanism comprises a horizontal connecting frame, a lead screw and a lead screw driving mechanism. The road cones in the storage area can be transferred in batches through the transferring mechanism, the road cone transferring efficiency is greatly improved, and in the process that the mechanical arm in the waiting area continuously releases the road cones one by one, the transferring mechanism has sufficient time to transfer the road cones at the far end of the storage area to the waiting area in batches; the problem of intermittent waiting caused by the fact that the mechanical arm releases the road cones due to untimely transfer is effectively solved; transfer is carried out through the transfer mechanism, the road cones can be erected and stacked in the storage area, and the requirement for stacking the road cones through a mechanical arm is met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of road operation vehicle, and particularly provide robot road cone retractor. BACKGROUND

[0002] With the development of road maintenance automation, the application of cone automatic retractor vehicle is more and more extensive. At present, the common road cone automatic retractor vehicle on the market is mainly divided into two categories. One is the conventional vertical storage, and the other is the horizontal storage.

[0003] The vertical storage type device is shown in the international patent with the publication number US11473254B2. The tip of the cone is upward. During the release process of the cone, the transfer device is needed to transfer the cone in the storage area to the working area of the release mechanism, and then the release mechanism releases the cone to the road surface.

[0004] The horizontal storage type device is shown in the patent with the publication number CN107804210A. The cones are horizontally stacked and set at a certain placement angle. The release mechanism continuously releases the bottommost cone to the road surface, and the stacked cones continuously move to the bottommost position under the action of gravity and auxiliary pushing mechanism.

[0005] The above two types of devices are suitable for conventional cones. However, they are not suitable for the current advanced automated robot cones.

[0006] Specifically, considering the complex structure and large weight of the self-propelled chassis of the robot cone, and the need for vertical stacking for charging, there is a functional contradiction between the horizontal storage type cone automatic retractor vehicle and the operating principle of the robot cone.

[0007] Considering that the robot cone can automatically line up and deploy, the release process does not need to consider the placement distance. Therefore, there is a high-speed continuous release working scenario. However, the transfer device of the vertical storage type cone automatic retractor vehicle mostly uses a mechanical arm or a swing arm mechanism, which can only transfer one to two cones at a time, and its transfer efficiency cannot meet the needs of the high-speed continuous release working scenario.

[0008] In summary, a robot cone retractor vehicle that can meet the operating environment of the robot cone needs to be developed. Utility model content

[0009] To solve the above technical problems, the utility model adopts the technical scheme of a robot cone retractor vehicle, which includes a frame, a transfer mechanism, a mechanical arm and a carrier vehicle. The carrier vehicle has a storage area and a waiting area. The storage area is located on one side of the carrier vehicle in the direction of vehicle advancement, and the waiting area is located on the other side of the carrier vehicle. The frame is assembled in the storage area, and the mechanical arm is assembled in the waiting area.

[0010] The framework is a rectangular architecture, a longitudinal beam is assembled on the Y-direction crossbeam of the framework by a railcar, a transfer mechanism is assembled between the two longitudinal beams by the railcar, and the transfer mechanism is arranged in the X-direction, each railcar is provided with a railcar driving mechanism, and the transfer mechanism can move in the ZY coordinate system under the driving of the railcar driving mechanism.

[0011] The rectangular matrix of the storage area is stacked with a plurality of road cones, the transfer mechanism can clamp and carry the road cones to the waiting area, and the mechanical arm releases the road cones in the waiting area to the road surface one by one.

[0012] Further, the transfer mechanism comprises a horizontal connecting frame, two lead screws and a lead screw driving mechanism, the two ends of the horizontal connecting frame are fixedly connected with the railcar respectively, the two lead screws are horizontally assembled on the horizontal connecting frame, the lead screw driving mechanism is assembled at the end of the lead screw, a plurality of clamping jaws are respectively assembled on the two lead screws, the plurality of clamping jaws are equally divided into two groups, the two groups of clamping jaws are oppositely arranged, and the two groups of clamping jaws are correspondingly distributed in pairs, a limiting frame is arranged below the lead screw, a plurality of through holes are formed in the limiting frame, the number of the through holes matches the number of the pairs of clamping jaws, and the positions of the through holes are respectively located directly below each pair of clamping jaws, and a guide frame is fixedly installed below each through hole.

[0013] Further, the guide frame is a conical shape that matches the road cone, the caliber of the through hole matches the outer diameter of the tip of the road cone, and when the road cone passes through the through hole and the outer wall of the road cone abuts against the inner wall of the through hole, the top of the road cone is just located between the two clamping jaws in the pair.

[0014] Further, a crossbeam is arranged in the X-direction at the center of the top of the framework, and a visual information acquisition assembly is assembled in the center of the crossbeam.

[0015] Further, the railcar driving mechanism comprises a rack and a gear, the rack is installed along the Y-direction crossbeam and the longitudinal beam of the framework, the gear is assembled on the railcar by a power mechanism, and the gear is engaged with the corresponding rack.

[0016] Further, the railcar driving mechanism further comprises a transmission shaft and a speed reducer, the speed reducer is arranged at the middle position of the longitudinal beam, and the speed reducer is connected with the corresponding gears of the upper and lower railcars by the transmission shaft.

[0017] Further, a carriage is arranged on the carrying platform of the carrying vehicle, and the carriage can completely cover the carrying platform.

[0018] The beneficial effects of the utility model are as follows:

[0019] The road cone in the storage area can be transported in batches through the transport mechanism, and the transport efficiency of the road cone is greatly improved; during the process that the mechanical arm in the waiting area releases the road cone one by one in succession, the transport mechanism has sufficient time to transport the road cones at the far end of the storage area in batches to the waiting area, and the scheme effectively makes up the problem of intermittent waiting of the mechanical arm caused by the untimely transport.

[0020] Meanwhile, the road cone can be erected and stacked in the storage area through the transport mechanism, and the demand of the robot for stacking the road cone is met. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic view of the utility model;

[0022] Figure 2 It is a structural schematic view of the frame of the utility model;

[0023] Figure 3 It is Figure 2 It is an enlarged view of A in the middle;

[0024] Figure 4 It is a rear view of the longitudinal beam of the utility model;

[0025] Figure 5 It is Figure 4 It is a sectional view of B-B in the middle;

[0026] Figure 6 It is a structural schematic view of the transport mechanism of the utility model;

[0027] Figure 7 It is a structural schematic view of the combination of the carriage and the carrying vehicle of the utility model.

[0028] The reference signs comprise:

[0029] 1, frame; 101, slide; 102, longitudinal beam; 103, cross beam; 104, visual information acquisition assembly; 105, rack; 106, gear; 107, transmission shaft; 108, speed reducer; 109, railcar;

[0030] 2, transport mechanism; 201, horizontal connecting frame; 202, angle frame; 203, lead screw; 204, lead screw driving mechanism; 205, clamping jaw; 206, limiting frame; 207, through hole; 208, guide frame;

[0031] 3, mechanical arm; 4, storage area; 5, waiting area; 6, carrying vehicle; 7, carriage. DETAILED DESCRIPTION

[0032] The utility model will be described in detail below in combination with the drawings.

[0033] Refer to Figures 1-7The robot road cone storage and delivery vehicle comprises a frame 1, a transfer mechanism 2, a mechanical arm 3 and a carrying vehicle 6, the carrying platform of the carrying vehicle 6 is divided into a storage area 4 and a waiting area 5, the storage area 4 is located on one side of the carrying platform in the direction of vehicle advancement, and the waiting area 5 is located on the other side of the carrying platform, the frame 1 is arranged in the storage area 4, and the mechanical arm 3 is arranged in the waiting area 5.

[0034] The frame 1 is a rectangular structure, a longitudinal beam 102 is arranged on the Y-direction cross beam of the frame 1 through a rail car 109, the transfer mechanism 2 is arranged between the two longitudinal beams 102 through the rail car 109, and the transfer mechanism 2 is arranged in the X direction, and the rail car 109 is provided with a rail car driving mechanism, and the transfer mechanism 2 can move in the ZY coordinate system under the driving of the rail car driving mechanism.

[0035] A plurality of road cones are arranged in the storage area 4 in a rectangular matrix, the transfer mechanism 2 can clamp and carry the road cones to the waiting area 5, and the mechanical arm 3 releases the road cones in the waiting area to the ground one by one.

[0036] Preferably, the frame 1 and the longitudinal beam 102 are both paved with a slide 101, and the rail car 109 realizes displacement through the slide 101.

[0037] The road cone robot has the functions of automatic advancement and automatic path finding.

[0038] The transfer mechanism 2 can batch transfer the road cones in the storage area 4, greatly improving the road cone transfer efficiency, and in the process of continuously releasing the road cones one by one by the mechanical arm 3 in the waiting area 5, the transfer mechanism 2 has sufficient time to batch transfer the road cones at the far end of the storage area 4 to the waiting area 5.

[0039] Conversely, when the road cone recovery work needs to be performed, the mechanical arm 3 picks up the road cones on the ground and places them in the waiting area 5, the transfer mechanism 2 hovers above the waiting area 5, and when the number of road cones placed in the waiting area 5 reaches a set number, the transfer mechanism 2 clamps the road cones in the waiting area 5 in batches and transfers them back to the storage area 4.

[0040] Specifically, the transfer mechanism 2 comprises a horizontal connecting frame 201, two lead screws 203 and a lead screw driving mechanism 204. The two ends of the horizontal connecting frame 201 are fixedly connected with the rail cars 109 respectively. The two lead screws 203 are horizontally arranged on the horizontal connecting frame 201. The lead screw driving mechanism 204 is arranged at the ends of the lead screws 203. A plurality of clamping jaws 205 are arranged on the two lead screws 203 respectively. The plurality of clamping jaws 205 are equally divided into two groups. The two groups of clamping jaws 205 are oppositely arranged and correspondingly arranged in pairs. A limiting frame 206 is arranged below the lead screws 203. A plurality of through holes 207 are formed in the limiting frame 206. The number of the through holes 207 matches the number of the pairs of clamping jaws 205. The positions of the through holes 207 are respectively located directly below each pair of clamping jaws 205. A guide frame 208 is fixedly arranged below each through hole 207.

[0041] Further, the guide frame 208 is conical and matches the shape of the road cone. The caliber of the through hole 207 matches the outer diameter of the tip of the road cone. When the road cone passes through the through hole 207 and the outer wall of the road cone abuts against the inner wall of the through hole 207, the top of the road cone is just located between the two clamping jaws 205 in the pair.

[0042] Preferably, the lead screws 203 are arranged on the side walls of the horizontal connecting frame 201 through the angle frames 202.

[0043] Preferably, the horizontal connecting frame 201 is U-shaped. The length of the Y-direction beam of the horizontal connecting frame 201 matches the maximum diameter of the road cone. When the transfer mechanism 2 moves to the street position in the negative direction of the Y-direction, the plurality of road cones clamped by the transfer mechanism 2 completely move from the storage area 4 to the waiting area 5.

[0044] A cross beam 103 is arranged at the central position of the top of the frame 1 in the X-direction. A visual information acquisition assembly 104 is arranged at the central position of the cross beam 103. The visual information acquisition assembly 104 is used to check the neatness of the arrangement of the road cones in the storage area 4 and feed back the inventory information of the road cones in the storage area 4 in cooperation with the transfer mechanism 2.

[0045] The rail car driving mechanism comprises a rack 105 and a gear 106. The rack 105 is arranged along the Y-direction cross beam and the longitudinal beam 102 of the frame 1. The gear 106 is arranged on the rail car 109 through a power mechanism. The gear 106 is engaged with the corresponding rack 105.

[0046] Preferably, the power mechanism adopts an electric motor.

[0047] Further, the rail car driving mechanism further comprises a transmission shaft 107 and a speed reducer 108. The speed reducer 108 is arranged at the middle position of the longitudinal beam 102. The speed reducer 108 is connected with the corresponding gears 106 of the upper and lower rail cars 109 through the transmission shaft 107 respectively.

[0048] Preferably, the longitudinal beams 102 are hollow square tubes, inside which the transmission shaft 107 and the reduction gear 108 are arranged.

[0049] The carrying platform of the carrying vehicle 6 is provided with a carriage 7, and the carriage 7 can completely cover the carrying platform.

[0050] The above merely is the preferred embodiment of the present application, for those skilled in the art, according to the idea of the present application, many changes can be made in the specific implementation mode and application range, as long as these changes do not deviate from the concept of the present application, all belong to the protection scope of the present application.

Claims

1. A robotic cone collection and deployment vehicle, characterized by: The carrying vehicle includes a frame, a transfer mechanism, a mechanical arm and a carrying vehicle, a carrying platform of the carrying vehicle is divided into a storage area and a waiting area, the storage area is located on one side of the carrying platform in the direction of vehicle advancement, and the waiting area is located on the other side of the carrying platform, the frame is arranged in the storage area, and the mechanical arm is arranged in the waiting area. The frame is a rectangular structure, a longitudinal beam is arranged on the Y-direction beam of the frame through a railcar, the transfer mechanism is arranged between the two longitudinal beams through the railcar, and the transfer mechanism is arranged in the X direction, the railcar is provided with a railcar driving mechanism, and the transfer mechanism can move in the ZY coordinate system under the driving of the railcar driving mechanism. The storage area is provided with a plurality of road cones in a rectangular matrix, the transfer mechanism can clamp and carry the road cones to the waiting area, and the mechanical arm releases the road cones in the waiting area to the road surface one by one.

2. The robotic cone collection and deployment vehicle of claim 1, wherein: The transfer mechanism includes a horizontal connecting frame, a lead screw and a lead screw driving mechanism, two ends of the horizontal connecting frame are fixedly connected with the railcar, two lead screws are horizontally arranged on the horizontal connecting frame, the lead screw driving mechanism is arranged at the end of the lead screw, a plurality of clamping jaws are arranged on the two lead screws, the plurality of clamping jaws are divided into two groups, the two groups of clamping jaws are oppositely arranged, and the two groups of clamping jaws are correspondingly arranged in pairs, a limiting frame is arranged below the lead screw, a plurality of through holes are formed in the limiting frame, the number of the through holes matches the number of the pairs of clamping jaws, and the positions of the through holes are located directly below each pair of clamping jaws, and a guide frame is fixedly arranged below each through hole.

3. The robotic cone collection and deployment vehicle of claim 2, wherein: The guide frame is a conical shape matched with the road cone, the diameter of the through hole matches the outer diameter of the tip of the road cone, and when the road cone passes through the through hole and the outer wall of the road cone abuts against the inner wall of the through hole, the top of the road cone is located between the two clamping jaws in the pair.

4. The robotic cone collection and deployment vehicle of claim 1, wherein: A crossbeam is arranged in the X direction at the center of the top of the frame, and a visual information acquisition assembly is arranged at the center of the crossbeam.

5. The robotic cone collection and deployment vehicle of claim 1, wherein: The railcar driving mechanism is composed of a rack and a gear, the rack is arranged along the Y-direction beam and the longitudinal beam of the frame, the gear is arranged on the railcar through a power mechanism, and the gear is engaged with the corresponding rack.

6. The robotic cone collection and deployment vehicle of claim 5, wherein: The railcar driving mechanism further includes a transmission shaft and a speed reducer, the speed reducer is arranged at the middle position of the longitudinal beam, and the speed reducer is connected with the corresponding gears of the upper and lower railcars through the transmission shaft.

7. The robotic cone collection and deployment vehicle of claim 1, wherein: The carrying platform of the carrying vehicle is provided with a carriage, and the carriage can completely cover the carrying platform.

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